#!../../bin/linux-x86_64/xpsMotor


< envPaths

cd ${TOP}

dbLoadDatabase("dbd/xpsMotor.dbd")
xpsMotor_registerRecordDeviceDriver(pdbbase)

### Motors
dbLoadTemplate "db/xpsGoniometer.substitutions"
dbLoadTemplate "db/XPS2_Aux_ai.substitutions"


dbLoadRecords("db/standardScans.db","P=halldxps2:yaw:,MAXPTS1=2000,MAXPTS2=1000,MAXPTS3=1000,MAXPTS4=10,MAXPTSH=2000")

dbLoadRecords("db/saveData.db","P=halldxps2:yaw:")
dbLoadRecords("db/scanProgress.db","P=halldxps2:yaw:scanProgress:")


#asSetFilename("ca_security.txt")

# asyn port, IP address, IP port, number of axes, 
# active poll period (ms), idle poll period (ms), 
# enable set position, set position settling time (ms)
XPSCreateController("XPS2", "129.57.194.11", 5001, 8, 10, 500, 0, 500)

XPSAuxConfig("XPS_AUX1", "129.57.194.11", 5001, 50)

# XPS asyn port,  axis, groupName.positionerName, stepSize(1/0.001 mm)
# XPS asyn port,  axis, groupName.positionerName, stepSize(1/0.001 mm)
XPSCreateAxis("XPS2",0,"X.MTM200PE1BV6",   "1000")
XPSCreateAxis("XPS2",1,"Y.MTM100PE1BV6",   "1000")
XPSCreateAxis("XPS2",2,"rX.BGS80PPV6"  ,   "100000")
XPSCreateAxis("XPS2",3,"rZ.URS75BPPV6" ,   "100000" )
XPSCreateAxis("XPS2",4,"rY.URS150BPPV6",   "100000" )



iocInit

cd ${TOP}/iocBoot/iocxpsMotor
saveData_Init("saveData.req", "P=halldxps2:yaw:")
seq &scanProgress, "S=halldxps2:yaw:,P=halldxps2:yaw:scanProgress:" 
#

dbpf("halldxps2:yaw:scan1.R1PV", "halldxps2:yaw.RBV")
dbpf("halldxps2:yaw:scan1.P1PV", "halldxps2:yaw.VAL")
dbpf("halldxps2:yaw:scan1.D01PV", "halldxps2:yaw.RBV")
dbpf("halldxps2:yaw:scan1.D02PV", "halldxps2:pitch.RBV")
dbpf("halldxps2:yaw:scan1.D03PV", "halldxps2:XPSAuxAi0:avg.VAL")
dbpf("halldxps2:yaw:scan1.D04PV", "halldxps2:XPSAuxAi1:avg.VAL")
#dbpf("halldxps2:yaw:scan1.D03PV", "halldxps2:XPSAuxAi2:avg.VAL")
#dbpf("halldxps2:yaw:scan1.D04PV", "halldxps2:XPSAuxAi3:avg.VAL")
dbpf("halldxps2:yaw:scan1.P1SP", "-0.03")
dbpf("halldxps2:yaw:scan1.P1EP", "0.11")
dbpf("halldxps2:yaw:scan1.P1SI", "0.001")
dbpf("halldxps2:yaw:scan1.PDLY", "2.0")
dbpf("halldxps2:yaw:scan1.DDLY", "0.5")

dbpf("halldxps2:yaw:saveData_fileSystem", "/gluex/data")
dbpf("halldxps2:yaw:saveData_subDir", "sscanData")
dbpf("halldxps2:yaw:saveData_baseName", "data_yaw_")
#